Component transfer device and method

ABSTRACT

A component transfer device according to the present invention includes a holding mechanism ( 20 ) that positions and holds a component on a carrying surface (S) located at a predetermined height and a pull-out unit ( 40 ) that pulls out the component held on the carrying surface by the holding mechanism in a horizontal direction. The pull-out unit includes a grasping member ( 43, 44 ) that can separably grasp the component from a vertical direction, a cam member ( 42 ) that causes the grasping member to perform a component grasping operation and a component releasing operation at predetermined timings by exercising a cam function to the grasping member, a driving mechanism ( 41, 46, 47 ) that drives the cam member and the grasping member. According to this configuration, since the pull-out unit causes the grasping member to perform the grasping operation and the releasing operation for the component based on the cam function of the cam member, the component can be assuredly grasped and pulled out at a desired timing and smoothly transferred to a predetermined supply area while achieving simplification of the configuration, thereby improving the operation efficiency and the productivity.

TECHNICAL FIELD

The present invention relates to a component transfer device and methodfor taking out a component accommodated in a rack (or a magazine, acassette, and the like) to be supplied to a supply area, and moreparticularly to a component transfer device and method for taking out acomponent having a plate-like shape such as a printed board, a liquidcrystal substrate, a glass substrate or a thin-plate tray.

BACKGROUND ART

As a conventional component transfer device, there is known a substratesupply device that includes a tote box moving means for horizontally andvertically moving a substrate tote box that accommodates printedsubstrates on a plurality of stages, a substrate fetching means forfetching the printed substrates from the substrate tote box one by one,and others, and that sets the substrate tote box at a predeterminedposition, moves up and down the same step by step to position eachprinted substrate at a predetermined fetch position, takes out theprinted substrates one by one by using the substrate fetching means, andsupplies them to a supply area (e.g., an implementer or an examiner) ona downstream side (see, e.g., Patent Document 1).

In this device, as the substrate fetching means, there are adopted oneincluding an arm portion that causes a protrusion to be caught on aninnermost edge portion of a printed substrate from a lower side of theprinted substrate and rakes out the printed substrate from the substratetote box, one having an arm portion that sandwiches a front side of theprinted substrate from the vertical direction and pulls out the printedsubstrate from the substrate tote box, and one including an arm portionthat enters from a slit provided on a side surface of the substrate totebox on an opposite side of a fetch direction and pushes out the printedsubstrate from the substrate tote box.

However, when applying the arm portion that causes the protrusion to becaught on the innermost edge portion of the printed substrate and rakesout the printed substrate as the substrate fetching means in thisdevice, the arm portion must be set to be longer than a length dimensionof the substrate (the substrate tote box) in the fetch direction, a sizeof the device thereby increases, and a driving mechanism for moving upand down the arm portion (the protrusion) is required besides a drivingmechanism that reciprocates the arm portion, resulting in complicationand increase in size of the device.

Further, when applying the arm portion that operates to push out theprinted substrate as the substrate fetching means, the arm portion mustbe set to be longer than a length dimension of the substrate (thesubstrate tote box) in a thrusting direction, thereby increasing a sizeof the device.

Furthermore, when applying the arm portion which sandwiches the frontside of the printed substrate from the vertical direction and pulls outthe printed substrate as the substrate fetching means, a configuration,a driving mechanism and others that allow this arm portion to perform anoperation for sandwiching the printed substrate are not clear, andcontents that can be specifically carried out are not disclosed.

Patent Document 1: Unexamined Japanese Patent Publication No. 9-331191

DISCLOSURE OF INVENTION Problem to be Solved by the Invention

In view of the above-described situation of the conventional arts, it isan object of the present invention to provide a component transferdevice and method that can take out a component such as a substrateaccommodated in, e.g., a rack to be smoothly transferred to apredetermined supply area and can improve operation efficiency andproductivity while achieving simplification, miniaturization, areduction in cost of a configuration.

Means for Solving Problem

A component transfer device according to the present invention thatachieves the object includes: a holding mechanism that positions andholds a component on a carrying surface located at a predeterminedheight; and a pull-out unit that pulls out the component held by theholding mechanism in a horizontal direction, wherein the pull-out unitincludes: a grasping member that is capable of separably grasping thecomponent from a vertical direction; a cam member that exercises a camfunction with respect to the grasping member to effect a componentgrasping operation and a component releasing operation at predeterminedtimings; and a driving mechanism that drives the cam member and thegrasping member.

According to this configuration, when the holding mechanism (e.g., astage or an elevation table on which a component is directly mounted)positions and holds the component on the carrying surface located at apredetermined height, the cam member exercises a cam function based ondriving by the driving mechanism in the pull-out unit, and the graspingmember vertically grasps (holds) the component in the vertical directionand pull out the component to a predetermined position and then releasesthe component at predetermined timings.

Since the pull-out unit allows the grasping member to effect thegrasping operation and the releasing operation for the component at thepredetermined timings in response to the cam function of the cam member,the configuration can be simplified, the component can be assuredlygrasped and pulled out at a desired timing, and it can be smoothlytransferred to the predetermined supply area as compared with an exampleusing, e.g., a plurality of actuators, thereby improving the operationefficiency and the productivity.

Here, a member that rotates to exercise the cam function or a memberthat directly reciprocates to exercise the cam function can be appliedas the cam member as long as it allows the grasping member to performthe grasping operation and the releasing operation based on the camfunction, and a member that is integrally formed to be elasticallydeformed or a member having different members arranged on an upper sideand a lower side thereof can be applied as the grasping member as longas it grasps the component separably in the vertical direction, thusflexibly coping with a conformation and a type of the component.

The device having the above-described configuration can adopt astructure that the holding mechanism includes an elevation unit thatmoves up and down a rack that accommodates the components on a pluralityof stages in the vertical direction, and the pull-out unit pulls out thecomponent positioned on the carrying surface located at thepredetermined height by the elevation unit from the rack.

According to this structure, when the elevation unit positions thecomponent in the rack on the carrying surface located at thepredetermined height, the cam member exercises the cam function based ondriving by the driving mechanism in the pull-out unit, and the graspingmember grasps (holds) the component from the vertical direction and pullout the component to the predetermined position, and then releases thecomponent, at the predetermined timings.

As described above, adopting the elevation unit that moves up and downand positions the rack accommodating the components on the plurality ofstages enables continuously pulling out and transferring the components.

The device having the above-described configuration can adopt astructure that the cam member exercises the cam function with respect tothe grasping member to effect a retracting operation for retractingtoward a lower side from the carrying surface.

According to this structure, since the grasping member is retracted fromthe carrying surface after the grasping member pulls out the componentbased on the cam function of the cam member, the component can be moresmoothly transferred, and the grasping operation, the pull-outoperation, the releasing operation, and the retracting operation can beassuredly performed at optimum timings in the mentioned order.

The device having the above-described configuration can adopt astructure that the grasping member includes an upper arm member havingan upper contact portion configured to separably come into contact withan upper surface of the component and a lower arm member having a lowercontact portion configured to separably come into contact with a lowersurface of the component, the cam member includes a guided portion thatis guided so as to allow its reciprocation in a pull-out direction ofthe component, an upper cam portion that exercises a cam function ofvertical movement with respect to the upper arm member, and a lower camportion that exercises the cam function of vertical movement withrespect to the lower arm member, and the driving mechanism includes: amovable holder that has a horizontal guide portion that guides theguided portion in a predetermined range in the pull-out direction and avertical guide portion that guides the upper arm member and the lowerarm member in a predetermined range in a vertical direction, and thatreciprocates in the pull-out direction; a first stopper that restrictsthe movement of the cam member alone to exercise the cam function forthe grasping operation when the movable holder reaches a predeterminedclose position close to the rack; and a second stopper that restrictsthe movement of the cam member alone to exercise the cam function forthe releasing operation when the movable holder reaches a predeterminedseparated position apart from the rack.

According to this structure, the movable holder supports (the guidedportion of) the cam member so as to be capable of reciprocating in thepredetermined range in the pull-out direction by the horizontal guideportion and also supports the upper arm member that receives the camfunction of the upper cam portion and the lower arm member that receivesthe cam function of the lower cam portion so as to relatively move inthe vertical direction by the vertical guide portion.

Further, when the movable holder reaches the close position of the rackand (one side portion) of the cam member comes into contact with thefirst stopper to be stopped, the movable holder alone further moves, andthe upper arm member (the upper contact portion) and the lower armmember (the lower contact portion) grasp the component from the verticaldirection based on the cam function of the cam member. On the otherhand, when the movable holder moves in an opposite direction to reachthe predetermined separated position and (the other side portion of) thecam member comes into contact with the second stopper to be stopped, themovable holder alone further moves, and the upper arm member (the uppercontact portion) and the lower arm member (the lower contact portion)release the component based on the cam function of the cam member.

As described above, since the grasping member is formed of the two upperand lower arm members and the relative movement of the cam member withrespect to the movable holder generates the cam function, theconfiguration of the driving mechanism can be simplified, and thegrasping operation, the pull-out operation, and the releasing operationcan be accurately and smoothly carried out at predetermined timings inthe mentioned order.

The device having the above-described configuration can adopt astructure that the cam member is formed so as to exercise the camfunction for a retracting operation for retracting the grasping membertoward the lower side from the carrying surface when the movable holderfurther moves in a state that the cam member is in contact with thesecond stopper to be restricted.

According to this structure, when the movable holder reaches thepredetermined separated position and (the other side portion of) the cammember comes into contact with the second stopper to be stopped, themovable holder alone further moves, and the upper arm member (the uppercontact portion) and the lower arm member (the lower contact portion)release the component based on the cam function of the cam member andthen retract to the lower side from the carrying surface. Since thegrasping member is retracted to the lower side of the carrying surfaceafter releasing the component in this manner, the pulled-out componentcan be smoothly carried (transferred) to the predetermined supply area.

The device having the above-described configuration can adopt astructure that the upper cam portion and the lower cam portion areformed at an upper edge and a lower edge of the cam member, the upperarm member has an upper follower portion that is guided by the verticalguide portion and engages with the upper cam portion, the lower armmember has a lower follower portion that is guided by the vertical guideportion and engages with the lower am portion, and an extension springthat attracts the upper follower portion and the lower follower portionto each other is hooked on them.

According to this structure, the cam member is an end-face cam havingthe cam portions at the upper edge and the lower edge, the upperfollower portion and the lower follower portion are attracted by theextension spring so as to engage with the upper cam portion and thelower cam portion, respectively, and the upper follower portion and thelower following portion also have a function of being guided by thevertical guide portion of the movable holder, thereby obtaining thesmooth and assured cam function while achieving, e.g., a reduction inthe number of components and simplification of the configuration.

The device having the above-described configuration can adopt astructure including a carrying unit that supports and carries thecomponent pulled out by the pull-out unit.

According to this structure, the carrying unit can transfer thepulled-out component to the supply area on the downstream side at anoptimum timing.

The device having the above-described configuration can adopt astructure including a push-out unit that pushes out the componentpositioned on the carrying surface by a predetermined distance towardthe grasping member side.

According to this structure, when the components are arranged at narrowintervals on a plurality of stages, pushing out the component by apredetermined amount in advance by using the push-out unit enables thepull-out unit to assuredly grasp an end region of the pushed-outcomponent. Furthermore, since the push-out unit pushes out the componentby a predetermined amount, a long stroke in the conventional technologyis no longer necessary, and simplification of the configuration andminiaturization of the device can be achieved.

A component transfer method according to the present invention thatachieves the object includes: a holding step of positioning and holdinga component on a carrying surface located at a predetermined height; anda pull-out step of pulling out the component positioned and held at theholding step in a horizontal direction, wherein, at the pull-out step, agrasping member is operated based on a cam function of a cam member tograsp the component at a predetermined timing, pulls out the componentto a predetermined position while being grasped by the grasping member,and then releases the component.

According to this structure, when the grasping member operates based onthe cam function of the cam member, the component positioned on thecarrying surface located at the predetermined height at the holding stepis grasped (held) from the vertical direction, pulled out to thepredetermined position, and then released.

Since the pull-out step includes the grasping operation and thereleasing operation carried out based on the cam function of the cammember in this manner, the component can be assuredly grasped and pulledout at a desired timing, and the component can be smoothly transferredto a predetermined supply area, whereby the operation efficiency and theproductivity can be improved.

The method having the above-described configuration can adopt astructure that the holding step includes an elevation step of moving upand down a rack accommodating the components on a plurality of stages ina vertical direction, and the component positioned on the carryingsurface located at the predetermined height at the elevation step ispulled out from the rack at the pull-out step.

According to this structure, when the grasping member operates based onthe cam function of the cam member, the component positioned on thecarrying surface located at the predetermined height at the elevationstep is grasped (held) from the vertical direction, pulled out to thepredetermined position, and then released.

When the elevation step of moving up and down the rack accommodating thecomponents on the plurality of stages is included as the holding step,the components can be continuously pulled out and transferred.

The method having the above-described configuration can adopt astructure that the component is released and then the grasping member isretracted toward a lower side from the carrying surface at the pull-outstep.

According to this structure, since the grasping member is retracted fromthe carrying surface after the grasping member releases the component,the component can be more smoothly transferred.

The method having the above-described configuration can adopt astructure including a carrying step of carrying the component pulled outat the pull-out step toward a downstream side by a carrying unit.

According to this structure, the carrying unit can transfer thepulled-out component to the supply area on the downstream side at anoptimum timing.

The method having the above-described configuration can adopt astructure including a push-out step of pushing out the componentpositioned on the carrying surface by a predetermined distance towardthe grasping member side by a push-out unit prior to the pull-out step.

According to this structure, when the components are arranged at narrowintervals on the plurality of stages, pushing out the component by apredetermined amount in advance by using the push-out unit enablesassuredly grasping the end region of the pushed-out component.

ADVANTAGEOUS EFFECT OF THE INVENTION

According to the component transfer device and method having theabove-described configuration, simplification of the structure,miniaturization, a reduction in cost, and others can be achieved, andthe component such as a substrate accommodated in, e.g., the rack can betaken out and smoothly transferred to the predetermined supply area,whereby the operation efficiency and the productivity can be improved.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a front view showing an embodiment of a component transferdevice according to the present invention;

FIG. 2 is a plan view showing the component transfer device depicted inFIG. 1;

FIG. 3A is a plan view showing a pull-out unit included in the componenttransfer device depicted in FIG. 1;

FIG. 3B is a front view showing the pull-out unit included in thecomponent transfer device depicted in FIG. 1;

FIG. 4 is a front view showing a cam member, a grasping member (an upperarm member, a lower arm member), and a movable holder that form a partof the component transfer device depicted in FIG. 1;

FIG. 5 is a plan view showing the cam member, the grasping member (theupper arm member, the lower arm member), and the movable holder thatform a part of the component transfer device depicted in FIG. 1;

FIG. 6 is a left side view showing the cam member, the grasping member(the upper arm member, the lower arm member), and the movable holderthat form a part of the component transfer device depicted in FIG. 1;

FIG. 7 is a front view showing the movable holder that forms a part ofthe component transfer device depicted in FIG. 1;

FIG. 8A is a front view showing the upper arm member that forms a partof the component transfer device depicted in FIG. 1;

FIG. 8B is a front view showing the lower arm member that forms a partof the component transfer device depicted in FIG. 1;

FIG. 9 is a front view showing the cam member that forms a part of thecomponent transfer device depicted in FIG. 1;

FIG. 10 is an operation view showing operations of the cam member andthe grasping member (the upper arm member, the lower arm member) thatform a part of the component transfer device depicted in FIG. 1;

FIG. 11 is an operation view showing an operation for positioning thecomponent on a carrying surface located a predetermined height in thecomponent transfer device according to the present invention;

FIG. 12 is an operation view showing operations of a push-out unit and apull-out unit in the component transfer device according to the presentinvention;

FIG. 13 is an operation view showing an operation for grasping thecomponent by the pull-out unit in the component transfer deviceaccording to the present invention;

FIG. 14 is an operation view showing an operation for releasing thecomponent after pulling out the component to a predetermined position bythe pull-out unit in the component transfer device according to thepresent invention;

FIG. 15 is an operation view showing an operation for retracting thepull-out unit to the lower side from the carrying surface afterreleasing the component in the component transfer device according tothe present invention; and

FIG. 16 is an operation view showing an operation for carrying thecomponent toward a downstream side by a carrying unit and an operationfor positioning the next component on the carrying surface in thecomponent transfer device according to the present invention.

EXPLANATIONS OF LETTERS OR NUMERALS A1 supply area R rack W component Ypull-out direction Z vertical direction S carrying surface located apredetermined height 10 base 20 elevation unit (holding mechanism) 21support 22 elevation table 22a ball nut 23 ball screw 24 motor 30 tableunit 31 guide rail 32 movable table 32a ball nut 33 ball screw 34 motor40 pull-out unit 41 movable holder (driving mechanism) 41′ twoupstanding walls 41″ basal portion 41 movable holder 41a guide pin(horizontal guide portion) 41b vertically long hole (vertical guideportion) 42 cam member 42a horizontally long hole (guided portion) 42bupper cam portion 42c lower cam portion 42d one side portion 42e theother side portion 43 upper arm member (grasping member) 43a uppercontact portion 43b upper follower pin (upper follower portion) 43cvertically long hole 44 lower arm member (grasping member) 44a lowercontact portion 44b lower follower pin (lower follower portion) 44cvertically long hole 45 holder driving mechanism 45a guide rail 45bendless belt 45c driving pulley 45d driven pulley 45e motor 46 firststopper (driving mechanism) 47 second stopper (driving mechanism) 48extension spring 50 carrying unit 51 carrying belt 52 driven pulley 53driving pulley 54 motor 60 push-out unit 61 push-out rod 62 crank member63 motor

BEST MODE(S) FOR CARRYING OUT THE INVENTION

The best mode for carrying out the present invention will now bedescribed hereinafter with reference to the accompanying drawings.

As shown in FIGS. 1 to 3, the component transfer device includes a base10, an elevation unit 20 as a holding mechanism that moves up and down arack R that is provided on the left-hand side on the base 10 andaccommodates components W therein, a table unit 30 provided on theright-hand side of the base 10, a pull-out unit 40 and a carrying unit50 that are provided on the table unit 30, a push-out unit 60 that isadjacently provided on the left-hand side of the elevation unit 20 andothers.

Further, as shown in FIGS. 1 and 2, a supply area A1 where the componentW pulled out from the rack R is supplied is arranged at a positionadjacent to the component transfer device in a Y direction.

As shown in FIGS. 1 and 2, the rack R has a substantially rectangularsolid outline and includes an upper frame R1, a lower frame R2, verticalframes R3 that connect the upper frame R1 with the lower frame R2 andare provided at four corners and two positions at the center, mountframes R4 which are provided to the vertical frames R3 on a plurality ofstages and on which the components W can be mounted, and others so thatthe substrate-like components W each having a substantially rectangularplate-like shape can be aligned and accommodated along a verticaldirection Z.

As shown in FIGS. 1 and 2, the elevation unit 20 includes a support 21vertically provided on the base 10, an elevation table 22 supported tobe capable of moving up and down in the vertical direction Z withrespect to guide rails 21 a of the support 21, a ball screw 23 that isscrewed to a ball nut 22 a of the elevation table 22 and extends in avertical direction Z, a motor 24 that drives the ball screw 23 torotate, and others.

Further, in the elevation unit 20, when the motor 24 rotates in a statethat the rack R is held on the elevation table 22, the ball screw 23rotates, the elevation table 22 moves up and down step by step togetherwith the ball nut 22 a, and the components W to be pulled out arepositioned on a carrying surface S located at a predetermined height oneby one.

As shown in FIGS. 1 to 3B, the table unit 30 includes guide rails 31that are fixed on the base 10 and extend in the X direction, a movabletable 32 that is guided by the guide rails 31 and moves in the Xdirection, a ball screw 33 that is screwed to a ball nut 32 a of themovable table 32 and extends in the X direction, a motor 34 that drivesthe ball screw 33 to rotate, and others.

As shown in FIGS. 1 to 3B, a pull-out unit 40 and a carrying unit 50 areprovided on the movable table 32.

Furthermore, when the motor 34 rotates, the movable table 32 moves inthe X direction through the ball screw 33 and the ball nut 32 a to bepositioned at a predetermined location.

As shown in FIGS. 3A to 9, the pull-out unit 40 includes a movableholder 41, a cam member 42, an upper arm member 43 and a lower armmember 44 as a grasping member, a holder driving mechanism 45 thatdrives the movable holder 41, a first stopper 46 with which one sideportion of the cam member 42 can come into contact, a second stopper 47with which the other side portion of the cam member 42 can come intocontact, and others.

Here, the movable holder 41, the first stopper 46, the second stopper47, and others constitute a driving mechanism that drives the cam member42 and the grasping member (the upper arm member 43 and the lower armmember 44).

As shown in FIGS. 4 to 7, the movable holder 41 is formed so as todefine two upstanding walls 41′ that stand upright at a predeterminedinterval in the X direction and a basal portion 41″ connected to theholder driving mechanism 45, and the respective upstanding walls 41′ areintegrally coupled and formed so as to include two guide pins 41 a as ahorizontal guide portion that guides the cam member 42 to enable itsreciprocation in a pull-out direction (a Y direction) of the componentW, a vertically long hole 41 b as a vertical guide portion that guidesthe upper arm member 43 and the lower arm member 44 to allow theirreciprocation in the vertical direction Z, and others.

As shown in FIGS. 4 to 6 and FIG. 9, the two cam members 42 are arrangedat a predetermined interval in the X direction and integrally coupled,and each cam member 42 is formed so as to include a laterally long hole42 a as a guided portion which is extended in the pull-out direction(the Y direction) of the component W and into which the guide pin 41 ais inserted, an upper cam portion 42 b formed at an upper edge, a lowercam portion 42 c formed at a lower edge, one side portion 42 d that cancome into contact with the first stopper 46, the other side portion 42 ethat can come into contact with the second stopper 47, and others.

As shown in FIGS. 4 to 6 and FIG. 8A, the upper arm member 43 is formedso as to include an upper contact portion 43 a that can separably comeinto contact with an upper surface of the component W, an upper followerpin 43 b as an upper follower portion that engages with the upper camportion 42 b, a vertically long hole 43 c into which a later-describedlower follower pin 44 b of the lower arm member 44 is inserted, andothers.

As shown in FIGS. 4 to 6 and FIG. 8B, the lower arm member 44 is formedso as to include a lower contact portion 44 a that can separably comeinto contact with a lower surface of the component W, a lower followerpin 44 b as a lower follower portion that engages with the lower camportion 42 c, a vertically long hole 44 c into which the upper followerpin 43 b of the upper arm member 43 is inserted, and others.

Moreover, as shown in FIG. 4, the upper follower pin 43 b is insertedinto the vertically long hole 41 b of the movable frame 41 and thevertically long hole 44 c of the lower arm member 44 to be guided toallow its reciprocation in the vertical direction Z with respect to themovable holder 41. Additionally, as shown in FIG. 4, the lower followerpin 44 b is inserted into the vertically long hole 41 b of the movableframe 41 and the vertically long hole 43 c of the upper arm member 43 tobe guided to allow its reciprocation in the vertical direction Z withrespect to the movable holder 41.

Further, an extension spring 48 is hooked on the upper follower pin 43 band the lower follower pin 44 b so as to attract these pins toward eachother. As a result, the upper follower pin 43 b maintains a state thatit is engaged with the upper cam portion 42 b and receives a camfunction of the vertical movement, and the lower follower pin 44 bmaintains a state that it is engaged with the lower cam portion 42 c andreceives the cam function of the vertical movement.

That is, in a relationship among the movable holder 41, the cam member42, the upper arm member 43, and the lower arm member 44, the upper camportion 42 b and the lower cam portion 42 c exercise the cam function soas to relatively vertically move the upper arm member 43 and the lowerarm member 44.

As shown in FIGS. 9 and 10, when the upper follower pin 43 b and thelower follower pin 44 b move from a point A toward a point D (i.e., whenthe movable holder 41 moves toward the right-hand side in a state thatthe other side portion 42 e of the cam member 42 is in contact with thesecond stopper 47), a grasping operation (S1 in FIG. 10) and a pull-outoperation, a releasing operation (S2 in FIG. 10), and a retractingoperation (S3 in FIG. 10) are continuously carried out in the mentionedorder.

That is, the upper contact portion 43 a and the lower contact portion 44a move closer to each other to grasp the component W from the verticaldirection Z as indicated by S1 in FIG. 10 when the upper follower pin 43b and the lower follower pin 44 b are placed at the point A, the uppercontact portion 43 a and the lower contact portion 44 a move away fromeach other to complete an operation for canceling grasp of the componentW as indicated by S2 in FIG. 10 when these pins are placed at the pointB or pass through the point B, the upper contact portion 43 a and thelower contact portion 44 a deviate from the component W toward the frontside in the pull-out direction Y when these pins are placed at the pointC or pass through the point C, and an operation for retracting the upperarm member 43 and the lower arm member 44 toward the lower side from thecarrying surface S is completed as indicated by S3 in FIG. 10 when thesepins are placed at the point D.

On the other hand, when the upper follower pin 43 b and the lowerfollower pin 44 b move toward the point A from the point D (i.e., whenthe movable holder 41 moves toward the left-hand side in a state thatthe one side portion 42 d of the cam member 42 is in contact with thefirst stopper 46), an operation of moving up to the height of thecarrying surface S from a standby state at a retracted position,receiving an end region of the component W and grasping the component Wfrom the vertical direction Z is completed.

As shown in FIGS. 3A and 3B, the holder driving mechanism 45 includes aguide rail 45 a that is formed to extend in the pull-out direction (theY direction) on the movable table 32 and guides the movable holder 41 toallow its reciprocation, an endless belt 45 b coupled with the movableholder 41 (the basal portion 41″), a driving pulley 45 c and a drivenpulley 45 d around which the endless belt 45 b is wound, a motor 45 ethat drives the driving pulley 45 c to rotate, and others.

Further, when the motor 45 e rotates in one direction, the movableholder 41 that holds the cam members 42 and the grasping member (theupper arm member 43 and the lower arm member 44) is driven along theguide rail 45 a (in the pull-out direction (the Y direction)) in theleft direction along which it gets closer to the rack R. On the otherhand, when the motor 45 e rotates in the other direction, the movableholder 41 that holds the cam members 42 and the grasping member (theupper arm member 43 and the lower arm member 44) is driven along theguide rail 45 a (in the pull-out direction (the Y direction)) in theright direction along which it gets away from the rack R.

As shown in FIGS. 3A and 3B, the first stopper 46 is arranged at a leftend (a side closer to the rack R) on the movable table 32 in thepull-out direction (the Y direction).

Furthermore, when the movable holder 41 moves toward the left side inthe pull-out direction (the Y direction) and reaches a predeterminedclose position close to the rack R, the first stopper 46 causes the oneside portion 42 d of the cam member 42 to come into contact therewithand restricts the movement of the cam member 42 alone so as to exercisethe cam function for the grasping operation.

As shown in FIGS. 3A and 3B, the second stopper 47 is arranged at aright end (a side apart from the rack R) on the movable table 32 in thepull-out direction (the Y direction).

Moreover, when the movable holder 41 moves toward the right side in thepull-out direction (the Y direction) and reaches a predeterminedseparated position apart from the rack R, the second stopper 47 causesthe other side portion 42 e of the cam member 42 to come into contacttherewith and restricts the movement of the cam member 42 alone so as toexercise the cam function for the releasing operation.

As described above, since the grasping member (the upper arm member 43and the lower arm member 44), the cam members 42 which enables thegrasping operation and the releasing operation for the component W byexercising the cam function with respect to the grasping member, and thedriving mechanism (the movable holder 41, the first stopper 46, thesecond stopper 47, and others) are adopted as the pull-out unit 40, thecomponent W can be assuredly grasped and pulled out at a desired timingand smoothly transferred to the supply area A1 while achievingsimplification of the configuration, thereby improving the operationefficiency and the productivity.

In particular, since the two members, i.e., the upper arm members 43 andthe lower arm member 44 are adopted as the grasping member, the graspingoperation, the pull-out operation, and the releasing operation can beaccurately and smoothly carried out at a predetermined timing in thementioned order while simplifying the configuration of the drivingmechanism.

Additionally, since the cam member 42 is an end-face cam that definesthe upper cam portion 42 b and the lower cam portion 42 c at the upperedge and the lower edge thereof, the shape of the cam member 42 can besimplified, the upper follower pin 43 b and the lower follower pin 44 bare attracted toward each other by the extension spring 48 so as toengage with the upper cam portion 42 b and the lower cam portion 42 c,respectively, and each of the upper follower pin 43 b and the lowerfollower pin 44 b also has a function of being guided by the verticallylong hole 41 b of the movable holder 41, thereby obtaining the smoothand assured cam function while achieving a reduction in the number ofcomponents, simplification of the configuration, and others.

As shown in FIGS. 3A and 3B, the carrying unit 50 includes endlesscarrying belts 51 that can support the pulled-out component W, aplurality of driven pulleys 52 around which the carrying belts 51 arewound, a driving pulley 53, a motor 54 that drives the driving pulley 53to rotate, and others.

Further, when the motor 54 rotates, the pulled-out component W issupported to be carried toward the supply area A1 on the downstreamside.

Since the carrying unit 50 that supports and carries the component Wpulled out by the pull-out unit 40 is provided in this manner, thepulled-out component W can be transferred to the supply area A1 on thedownstream side at an optimum timing.

As shown in FIGS. 1 and 2, the push-out unit 60 includes a push-out rod61 that comes into contact with an edge portion of the component W, acrank member 62 that reciprocates the push-out rod 61, a motor 63 thatdrives the crank member 62 to rotate, and others.

The push-out rod 61 is formed at a position on the carrying surface S soas to reciprocate by a predetermined distance in the pull-out direction(the Y direction).

Furthermore, when the motor 63 rotates and the crank member 62 therebyrotates a predetermined angle, the push-out rod 61 enters the rack R topush the component W positioned on the carrying surface S by apredetermined distance toward the grasping member (the upper arm member43 and the lower arm member 44) or the carrying unit 50 from the rack R.

Since the push-out unit 60 pushes out the component W by thepredetermined distance in advance in this manner, the pull-out unit 40can assuredly grasp the end region of the pushed component W even thoughthe components W are aligned at small intervals on the plurality ofstages. Moreover, since the push-out unit 60 pushes out the component Wby the predetermined distance, a long stroke like that in theconventional examples is no longer necessary, thereby achievingsimplification of the configuration and a reduction in size of thedevice.

An operation (a transfer method) of the component transfer device willnow be described with reference to FIGS. 11 to 16.

First, as shown in FIG. 11, when the rack R accommodating the componentsW on the plurality of stages is carried into and held by the elevationunit 20, the elevation unit 20 moves up and down to position thecomponent W that is to be taken out first on the carrying surface Slocated at a predetermine height (a holding step, an elevation step). Atthis moment, the pull-out unit 40 is stopped at a position retracted tothe lower side from the carrying surface S in a state that the uppercontact portion 43 a of the upper arm member 43 and the lower contactportion 44 a of the lower arm member 44 are closer to each other.

Subsequently, when the component W positioned on the carrying surface Sis detected by, e.g., a sensor (not shown), the push-out unit 60operates to push out this component W by the predetermined distancetoward the right-hand side from the rack R (a push-out step) as shown inFIG. 12. Additionally, the movable holder 41 moves in the left-hand sidein the pull-out direction (the Y direction) to reach a standby positionP₀. Here, when the pull-out unit 40 and the carrying unit 50 deviatefrom a predetermined position in the X direction, the movable table 31is appropriately driven in the X direction, thereby correcting thisdisplacement.

Subsequently, as shown in FIG. 13, when the push-out operation for thecomponent W performed by the push-out unit 60 is completed, the push-outunit 60 (the push-out rod 61) returns to the standby position. Further,when the movable holder 41 moves toward the left-hand side to reach theclose position close to the rack R, the one side portion 42 d of the cammember 42 comes into contact with the first stopper 46 to restrict themovement of the cam member 42 toward the left-hand side, and (the uppercontact portion 43 a of) the upper arm member 43 and (the lower contactportion 44 a of) the lower arm member 44 move up a predetermineddistance to position (the upper contact portion 43 a of) the upper armmember 43 above the carrying surface S and position (the lower contactportion 44 a of) the lower arm member 44 below the carrying surface Swhile the movable holder 41 further moves by a predetermined distancetoward the left-hand side to reach a grasping position P₁, therebypositioning the component W between the upper contact portion 43 a andthe lower contact portion 44 a while maintaining a state that the uppercontact portion 43 a is apart from the lower contact portion 44 a. Andthe upper contact portion 43 a and the lower contact portion 44 a comecloser from the vertical direction Z of the component W to grasp the endregion of the component W.

Subsequently, when the movable holder 41 moves toward the right-handside in the pull-out direction (the Y direction) to reach a separatedposition apart from the rack R as shown in FIG. 14 in a state that theupper arm member 43 and the lower arm member 44 grasp the component W,the other side portion 42 e of the cam member 42 comes into contact withthe second stopper 47 to restrict the rightward movement of the cammember 42, and (the upper contact portion 43 a of) the upper arm member43 and (the lower contact portion 44 a of) the lower arm member 44 moveaway from the component W in the vertical direction Z to release thecomponent W while the movable holder 41 further moves rightward by apredetermined distance to reach a release position P₂ (the pull-outstep).

Subsequently, as shown in FIG. 15, based on the cam function of the cammember 42, the upper arm member 43 and the lower arm member 44 move downby a predetermined distance from the carrying surface S while themovable holder 41 further moves rightward to reach a retracted positionP₃, thereby completing a retracting operation. Furthermore, theelevation unit 20 moves up one step to position the next component W onthe carrying surface S located at the predetermined height.

As described above, since the upper arm member 43 and the lower armmember 44 pull out the component W and then the upper arm member 43 andthe lower arm member 44 are retracted to the lower side from thecarrying surface S based on the cam function of the cam member 42, thecomponent W can be more smoothly transferred, and the graspingoperation, the pull-out operation, the releasing operation, and theretracting operation can be assuredly performed at optimum timings inthe mentioned order.

Then, as shown in FIG. 16, the pulled-out component W is supported bythe carrying unit 50 and then carried to the supply area A1 (thecarrying step). Alternatively, the pulled-out component W is supportedon the carrying unit 50 and then carried to a predetermined receivingposition in the supply area A1 by the carrying unit 50. Here, thecarrying operation of the carrying unit 50 is performed at a desiredoptimum timing.

Further, the movable holder 41 moves leftward to reach the standbyposition P₀ during carriage of the component W performed by the carryingunit 50.

A series of operations including the elevation step (the elevatingoperation and the positioning operation), the push-out step (thepush-out operation), the pull-out step (the grasping operation, thepull-out operation, the release operation, and the retractingoperation), the carrying step (the carrying operation), and others arerepeatedly carried out with respect to all the components W in thementioned order.

As described above, according to the component transfer device andmethod, the component W such as a substrate accommodated in, e.g., therack R can be taken out and smoothly transferred to the predeterminedsupply area A1 while achieving simplification of the configuration,miniaturization, a reduction in cost, and others, thereby improving theoperation efficiency and the productivity as a whole.

In the foregoing embodiment, the example where the elevation unit 20that moves up and down the rack R to be positioned is included as theholding mechanism has been described, but the present invention is notrestricted thereto, and a stage that allows the component W to bepositioned and held on the carrying surface located at the predeterminedheight by just directly mounting it thereon or an elevation table thatmoves up and down to position the component W on the carrying surfacelocated at the predetermined height when directly mounting it thereonmay be adopted.

In the foregoing embodiment, the configuration including the graspingmember formed of the cam member 42 that reciprocates in the pull-outdirection (the Y direction) to exercise the cam function in the verticaldirection Z and the two arm members 43 and 44 as the pull-out unit 40has been described, but the present invention is not restricted thereto,a discoid cam or the like that rotates to exercise the cam function maybe adopted as long as it allows the grasping member to perform thegrasping operation and the release operation based on the cam function,or a flexible grasping member having two fingertip pieces integrallyformed to allow the elastic deformation may be adopted as long as itseparably grasps the component W from the vertical direction Z.

In the foregoing embodiment, the example where the end-face cam havingthe upper cam portion 42 b and the lower cam portion 42 c defined by theupper edge and the lower edge is adopted as the cam member has beenexplained, but the present invention is not restricted thereto, a groovecam having a cam groove into which the upper follower pin 43 b and thelower follower pin 44 b are inserted may be adopted. In this case, sincethe upper follower pin 43 b and the lower follower pin 44 b can beconstantly engaged with the cam groove, the extension spring 48 can beeliminated.

INDUSTRIAL APPLICABILITY

As described above, according to the component transfer device andmethod of the present invention, since a component such as a substrateaccommodated in, e.g., a rack can be taken out to be smoothlytransferred to a predetermined supply area and the operation efficiencyand the productivity can be improved while achieving simplification of aconfiguration, miniaturization, a reduction in cost, and others, thedevice and the method can be of course utilized in a production linethat mechanical components are transferred, and they are also useful in,e.g., a transfer line or a production line that components in any otherfield are transferred.

1. A component transfer device comprising: a holding mechanism thatpositions and holds a component on a carrying surface located at apredetermined height; and a pull-out unit that pulls out the componentheld by the holding mechanism in a horizontal direction, wherein thepull-out unit includes: a grasping member that is capable of separablygrasping the component from a vertical direction; a cam member thatexercises a cam function with respect to the grasping member to effect agrasping operation of the component and a releasing operation of thecomponent at predetermined timings; and a driving mechanism that drivesthe cam member and the grasping member.
 2. The component transfer deviceaccording to claim 1, wherein the holding mechanism includes anelevation unit that moves up and down a rack that accommodates thecomponents on a plurality of stages in a vertical direction, and thepull-out unit pulls out the component positioned on the carrying surfacelocated at the predetermined height by the elevation unit from the rack.3. The component transfer device according to claim 1, wherein the cammember exercises the cam function with respect to the grasping member toeffect a retracting operation for retracting toward a lower side fromthe carrying surface.
 4. The component transfer device according toclaim 2, wherein the grasping member includes an upper arm member havingan upper contact portion capable of separably coming into contact withan upper surface of the component and a lower arm member having a lowercontact portion capable of separably coming into contact with a lowersurface of the component, the cam member includes a guided portion thatis guided reciprocatably in a pull-out direction of the component, anupper cam portion that exercises the cam function of vertical movementwith respect to the upper arm member, and a lower cam portion thatexercises the can function of vertical movement with respect to thelower arm member, and the driving mechanism includes: a movable holderthat has a horizontal guide portion for guiding the guided portion in apredetermined range in the pull-out direction and a vertical guideportion for guiding the upper arm member and the lower arm member in apredetermined range in a vertical direction, and that reciprocates inthe pull-out direction; a first stopper that restricts a movement of thecam member alone to exercise the cam function for the grasping operationwhen the movable holder reaches a predetermined close position close tothe rack; and a second stopper that restricts a movement of the cammember alone to exercise the cam function for the releasing operationwhen the movable holder reaches a predetermined separated position apartfrom the rack.
 5. The component transfer device according to claim 4,wherein the cam member is formed so as to exercise the cam function fora retracting operation for retracting the grasping member toward thelower side from the carrying surface when the movable holder furthermoves in a state that the cam member is in contact with the secondstopper to be restricted.
 6. A component transfer device according toclaim 4, wherein the upper cam portion and the lower cam portion areformed at an upper edge and a lower edge of the cam member, the upperarm member has an upper follower portion that is guided by the verticalguide portion and engages with the upper cam portion, the lower armmember has a lower follower portion that is guided by the vertical guideportion and engages with the lower am portion, and an extension springthat attracts the upper follower portion and the lower follower portionto each other is hooked on the upper follower portion and the lowerfollower portion.
 7. The component transfer device according to claim 1,further comprising a carrying unit that supports and carries thecomponent pulled out by the pull-out unit.
 8. The component transferdevice according to claim 1, further comprising a push-out unit thatpushes out the component positioned on the carrying surface located thepredetermined distance toward the grasping member side.
 9. A componenttransfer method comprising: a holding step of positioning and holding acomponent on a carrying surface located at a predetermined height; and apull-out step of pulling out the component positioned and held at theholding step in a horizontal direction, wherein, at the pull-out step, agrasping member is operated based on a cam function of a cam member tograsp the component at a predetermined timing, pulls out the componentto a predetermined position while grasping the component, and thenreleases the component.
 10. The component transfer method according toclaim 9, wherein the holding step includes an elevation step of movingup and down a rack accommodating the components on a plurality of stagesin a vertical direction, and the component positioned on the carryingsurface located at the predetermined height at the elevation step ispulled out from the rack at the pull-out step.
 11. The componenttransfer method according to claim 9, wherein, at the pull-out step, thecomponent is released and then the grasping member is refracted toward alower side from the carrying surface.
 12. The component transfer methodaccording to claim 9, further comprising a carrying step of carrying thecomponent pulled out at the pull-out step toward a downstream side by acarrying unit.
 13. The component transfer method according to claim 9,further comprising a push-out step of pushing out the componentpositioned on the carrying surface by a predetermined distance towardthe grasping member side by a push-out unit prior to the pull-out step.